do you have sftp subsystem enabled in sshd on the remote server?
You can check it in /etc/sshd/sshd_config, the config file name depends on your distribution…anyway, look there for:
Subsystem sftp /usr/lib/ssh/sftp-server
If this line is commented-out, the sftp is disabled.
To fix it, you can either enable sftp, or change Ansible configuration.
I prefer the Ansible configuration change, take a look at ansible.cfg and add/change:
[ssh_connection]
scp_if_ssh=True